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43 lines
1.1 KiB
Python
43 lines
1.1 KiB
Python
# -*- coding: utf-8 -*-
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#!/usr/bin/env python
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"""Demonstrate how the distance cost decreases as you move the manipulator (with your mouse) closer to the target
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object in the world.
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"""
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from itertools import count
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import pyrobolearn as prl
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# Create simulator
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sim = prl.simulators.Bullet()
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# create world
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world = prl.worlds.BasicWorld(sim)
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# create robot
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robot = world.load_robot('kuka_iiwa')
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end_effector_id = robot.end_effectors[0]
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robot.print_info()
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# desired position
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sphere = world.load_visual_sphere([0.5, 0., 0.], radius=0.05, color=(1, 0, 0, 0.5), return_body=True)
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# create state
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state = prl.states.LinkWorldPositionState(robot, link_ids=end_effector_id)
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# create reward
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# note that the given 'sphere' to the cost is not a state, and thus a PositionState will automatically be created
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# for that 'sphere', and called at each time the reward is computed.
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reward = prl.rewards.DistanceCost(state, sphere)
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# run simulation
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for t in count():
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# update state
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state()
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# compute reward
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print("Reward value = {}".format(reward()))
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# perform a step in the simulator
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world.step(sim.dt)
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